Rotors simulator ETH-ASL的无人机仿真系统安装指南

Rotors simulator ETH-ASL的无人机仿真系统安装指南

ethz的这个基于ros和gazebo的仿真环境还是相当不错的，不过安装起来bug百出（狗头.jpg）这里把踩得坑说一下。
Rotors Github
本安装说明针对 Ubuntu 16.04 ros kinetic

首先一定要下载全部依赖

首先安装ros

#ros安装完成的请忽略
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
$ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get install ros-kinetic-desktop-full
$ sudo rosdep init
$ rosdep update
$ source /opt/ros/kinetic/setup.bash

下载所有的包以及项目文件

$ sudo apt-get install ros-kinetic-joy ros-kinetic-octomap-ros ros-kinetic-mavlink python-wstool python-catkin-tools protobuf-compiler libgoogle-glog-dev ros-kinetic-control-toolbox

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace  # initialize your catkin workspace

$ wstool init
$ wget https://raw.githubusercontent.com/ethz-asl/rotors_simulator/master/rotors_hil.rosinstall
$ wstool merge rotors_hil.rosinstall  # download all git files
$ wstool update

build

cd ~/catkin_ws
catkin build

说实话catkin build的编译界面比catkin_make清楚好多，求大神科普一下两个区别。
Add sourcing to your .bashrc file

$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

test

Launch the simulator with a hex-rotor helicopter model, in our case, the AscTec Firefly in a basic world.

$ roslaunch rotors_gazebo mav_hovering_example.launch mav_name:=firefly world_name:=basic

问题汇总

2. 出现找不到autoreconf这个问题 autoreconf not found

安装

sudo apt-get install autoconf automake libtool

3. ‘Any’ is not a member of ‘gazebo::msgs’

编译遇到这个错误，将gazebo升级就好了。

$ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
$ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get install gazebo7 gazebo7-common 
$ sudo apt-get install gazebo7 gazebo7-common --fix-missing

4. 出现fatal error: ignition/math/Inertial.hh: 没有那个文件或目录

原因：升级gazebo后缺少依赖库

解决：

$ sudo apt-get install libignition-math2-dev

5. ImportError: No module named future

pip2 install --user future

6. error: ‘struct mavlink::common::msg::ODOMETRY’ has no member named ‘twist_covariance’

changed twist_covariance to velocity_covariance in odom.cpp file